Battery charging apparatus and method for charging electric vehicle

ABSTRACT

A battery charging apparatus for charging an electric vehicle is described. The battery charging apparatus includes a charging body, a robot arm, and a feeding coupler. The charging body defines a receiving portion. The robot arm is movably coupled to a sidewall of the receiving portion and received in receiving portion. The feeding coupler is coupled to the robot arm and used to supply electric power to the electric vehicle. The robot arm is capable of extending from the receiving portion for coupling the feeding coupler to an electric vehicle. A battery charging method for charging an electric vehicle having a receiving coupler is also described.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is related to one co-pending U.S. patent applicationSer. No.14/791,944 entitled “BATTERY CHARGING SYSTEM AND APPARATUS ANDMETHOD FOR ELECTRIC VEHICLE”, by “E-IN WU”. Such application has thesame assignee as the instant application and is concurrently filedherewith. The disclosure of the above-identified applications isincorporated herein by reference.

FIELD

The subject matter herein generally relates to a battery chargingapparatus for supplying electric energy to a battery of abattery-powered electric vehicle through a receiving coupler mounted onthe electric vehicle.

BACKGROUND

Recent years have seen progress in the development of electric vehiclesas means of transportation for reducing the rate of consumption ofexisting fuels and avoiding possible environmental pollution. Electricvehicles are powered by electric energy powered stored in and suppliedfrom a batteries mounted in the electric vehicle. The batteries usuallyto be charged by a battery charging apparatus.

BRIEF DESCRIPTION OF THE DRAWINGS

Many aspects of the present disclosure are better understood withreference to the following drawings. The components in the drawings arenot necessarily drawn to scale, the emphasis instead being placed uponclearly illustrating the principles of the present disclosure. Moreover,in the drawings, like reference numerals designate corresponding partsthroughout the views.

FIG. 1 illustrates an isometric view of a battery charging apparatus.

FIG. 2 is similar to FIG. 1, but from another angle.

FIG. 3 illustrates that a robot arm of the battery charging apparatusreceived in a receiving portion of the battery charging apparatus.

FIG. 4 illustrates that a protective door of the battery chargingapparatus closes the receiving portion.

FIG. 5 is an isometric view of the battery charging apparatus supplyingelectric energy to an electric vehicle.

FIG. 6 is a block diagram of an embodiment of a battery chargingapparatus.

FIG. 7 is a block diagram of an embodiment of a battery charging systemapplied to the battery charging apparatus.

FIGS. 8 and 9 are a flowchart of an embodiment of a battery chargingmethod.

FIGS. 10 and 11 are a flowchart of another embodiment of a batterycharging method.

DETAILED DESCRIPTION

It will be appreciated that for simplicity and clarity of illustration,where appropriate, reference numerals have been repeated among thedifferent figures to indicate corresponding or analogous elements. Inaddition, numerous specific details are set forth in order to provide athorough understanding of the embodiments described herein. However, itwill be understood by those of ordinary skill in the art that theembodiments described herein can be practiced without these specificdetails. Also, the description is not to be considered as limiting thescope of the embodiments described herein. The drawings are notnecessarily to scale and the proportions of certain parts may beexaggerated to better illustrate details and features of the presentdisclosure.

A definition that applies throughout this disclosure will now bepresented.

The term “coupled” is defined as connected, whether directly orindirectly through intervening components, and is not necessarilylimited to physical connections. The connection can be such that theobjects are permanently connected or releasably connected. The term“comprising,” when utilized, means “including, but not necessarilylimited to”; it specifically indicates open-ended inclusion ormembership in the so-described combination, group, series and the like.

The present disclosure is in relation to a battery charging apparatusfor an electric vehicle. The battery charging apparatus can include acharging body, a robot arm, and a feeding coupler. The charging body candefine a receiving portion. The robot arm can be movably coupled to asidewall of the receiving portion and received in receiving portion. Thefeeding coupler can be coupled to the robot arm and used to supplyelectric power to the electric vehicle. The robot arm can be capable ofextending from the receiving portion for coupling the feeding coupler toan electric vehicle.

The present disclosure is in relation to a battery charging method forcharging an electric vehicle. The battery charging method can bedescribed as following. An electronic charging apparatus can beprovided, and the electronic charging apparatus can have a receivingportion and a protective door with a robot arm moveably within thereceiving portion. The robot arm can have a feeding coupler at an end ofthe robot arm configured to mate with the electrical power receivingcoupler of the electric vehicle. The robot arm can have a retractedposition in which the robot arm is within the electronic chargingapparatus. The robot arm can be stored in the receiving portion in theretracted position with the protective door closed. The electroniccharging apparatus can be in response to the electric vehicle movinginto proximity to a charging station. The protective door can be opened.The robot arm can be extended from the retracted position to bring theelectrical connector to a position spaced from the receiving coupler ofthe electric vehicle. A location of the receiving coupler of theelectric vehicle can be recalled, the location can be stored in a memoryunit. The receiving coupler can connect to the receiving coupler can bevisually confirmed. A warning can be issued in response to lack ofvisual confirmation. In response to visual confirmation and based on thelocation recalled from the memory, the robot arm can be moved to bringthe feeding coupler into engagement with the receiving coupler to powerthe electric vehicle. The robot arm can be retracted into the retractedposition.

FIG. 1 shows a battery charging apparatus 100 for automaticallysupplying electric energy to an electric vehicle 200 (as shown in FIG.5). The battery charging apparatus 100 can include a charging body 10, arobot arm 20, a feeding coupler 30 positioned on the robot arm 20, and acontroller 60. The robot arm 20 can be movably mounted on the chargingbody 10. The controller 60 can control the robot arm 20 to couple thefeeding coupler 30 with a receiving coupler 201 (as shown in FIG. 5) ofthe electric vehicle 200 for charging.

The charging body 10 can define a receiving portion 13 for receiving therobot arm 20 and the feeding coupler 30.

The robot arm 20 can be a multi-axis robot arm for accurately couplingthe feeding coupler 30 with the receiving coupler 201. The robot arm 20can include a first arm 21, a second arm 22, a third arm 23, a fourtharm 24, a fifth arm 25, and a sixth arm 26, and an elastic member 27. Asshown in FIG. 2, a first end portion of the first arm 21 can berotatably coupled with a sidewall of the receiving portion 13 about afirst axis β1.

Referring to FIG. 1 again, a first end portion of the second arm 22 canbe rotatably coupled with a second end portion of the first arm 21 abouta second axis β2. A first end portion of the third arm 23 can berotatably coupled with a second end portion of the second arm 22 about athird axis β3. A first end portion of the fourth arm 24 can be rotatablycoupled with a second end portion of the third arm 23 about a fourthaxis β4. A first end portion of the fifth arm 25 can be rotatablycoupled with a second end portion of the fourth arm 24 about a fifthaxis β5. The first axis β1 can be substantially vertical to the sidewallof the receiving portion 13. The second axis β2 and the third axis β3can be substantially parallel to the first axis β1. The fourth axis β4can be substantially vertical to the first axis β1. The fifth β5 can besubstantially vertical to the fourth axis β4.

The sixth arm 26 can be coupled to a second portion of the fifth arm 25.The feeding coupler 30 can be positioned on an end portion of the sixtharm 26 and positioned away from the fifth arm 25. The elastic member 27can be movably sleeved on the sixth arm 26 and resist with the feedingcoupler 30. The elastic member 27 can correct a position deviation whenthe feeding coupler 30 mates with the receiving coupler 201. The elasticmember 27 can also protect the feeding coupler 30 from a cushion. Thefeeding coupler 30 can be moved to couple with the receiving coupler201. In the illustrated embodiment, a driver (not shown) is positionedin the fifth arm 25, and the sixth arm 26 can be driven by the driverfor pushing the feeding coupler 30 to mate with the receiving coupler201. A rotation of the first arm 21 around the first axis β1 and arotation of the second arm 22 around the second axis β2 can be foradjusting a height of the feeding coupler 30 and a distance between thefeeding coupler 30 and the electric vehicle 200. A rotation of the thirdaxis β3 can be used for further adjusting the height of the feedingcoupler 30. A rotation of the fourth axis β4 can be for aligning thefeeding coupler 30 with the electric vehicle 200, when the electricvehicle 200 stops in a tilt position relative to the charging body 10. Arotation of the fifth axis β5 can be for adjusting angles of the feedingcoupler 30 relative to the electric vehicle 30. Other structures of therobot arm 20, such as reducers, connecting structures between neighborarm structures, driving mechanisms, are not described here, forsimplify.

In other embodiments, the third arm 23, the fourth arm 24, the fifth arm25, and a sixth arm 26 can be omitted, the feeding coupler 30 can bedirectly positioned on the second arm 22. The number of the arms of therobot arm 20 and modes of motion of each arm can be designed asrequired.

The controller 60 can control the movements of the robot arm 20 and thefeeding coupler 30.

FIGS. 3 and 4 show that the battery charging apparatus 100 can furtherinclude a protective door 40. The protective door 40 can be movablymounted on the charging body 10 and positioned adjacent to the receivingportion 13 for closing the robot arm 20 and the feeding coupler 30 inthe receiving portion 13, such that, when the battery charging apparatus100 is in an unused state, the robot arm 20 and the feeding coupler 30can be protected from dust and water. In the illustrated embodiment, theprotective door 40 is a door that can be controlled to open or close bythe controller 60. In the illustrative embodiment, the protective door40 is configured to coil or roll up. In other embodiments, theprotective door 40 can be designed to be other suitable doors, such as atransparent door pivotally coupled to the charging body 10, and theprotective door 40 can be locked with the charging body 10.

Referring to FIG. 2 again, the battery charging apparatus 100 canfurther include a camera unit 45 positioned on an end surface of thefeeding coupler 30 and positioned away from the sixth arm 26. The cameraunit 45 can be used for capturing images. The battery charging apparatus100 can further include a distance sensor 47 (as shown in FIG. 6)mounted in the charging body 10 for detecting a distance between theelectrical vehicle 200 and the charging body 10, then transmit adistance signal including the distance between the electrical vehicle200 and the charging body 10 to the controller 60.

In other embodiments, the battery charging apparatus 100 can furtherinclude a plurality of pressure sensors (not shown) positioned on therobot arm 20. The plurality of pressure sensors can transmit informationto the controller 60 when the robot arm 20 contacts some object in use,the controller 60 can determine whether the robot arm 20 stop motionsaccording to predefined conditions. In this implementation, thecontroller 60 can operate based on feedback received from the pluralityof pressure sensors.

In other embodiments, the receiving portion 13 can be omitted, and therobot arm 20 can be directly mounted on a sidewall of the charging body10.

As FIG. 5 shown, the electric vehicle 200 has a charging lid 202 whichcovers the receiving coupler 201 via a charging lid opening and closingdevice (not shown).

Referring to FIG. 6, the battery charging apparatus 100 can furtherinclude a memory unit 70 for storing information relating to receivingcouplers of a plurality of models of electric vehicles. The memory unit70 can be electrically coupled with the controller 60. The informationrelating to the receiving coupler 201 can include a image of a receivingcoupler of a same or corresponding model as the electric vehicle 200, aimage of a charging lid of the same or corresponding model as theelectric vehicle 200 being in a close state, and positions of thereceiving coupler in the same or corresponding model as the electricvehicle 200. The controller 60 can include a display unit 61 and aprocessing unit 63 electrically coupled with the display unit 61 and thememory unit 70. The display unit 61 can be a touch screen for displayingand input orders by manual. The number of the processing unit 63 can beone more for achieving efficiency. In other embodiments, the controller60 can further include control keys for conveniently inputting.

In at least one embodiment, the memory unit 70 can be an internalstorage system, such as a flash memory, a random access memory (RAM) fortemporary storage of information, and/or a read-memory (ROM) forpermanent storage of information.

In at least one embodiment, the memory unit 70 can also be a storagesystem, such as a hard disk, a storage card, or a data storage medium.The memory unit 70 can include volatile and/or non-volatile storagedevices.

In at least one embodiment, the memory unit 70 can include two or morestorage devices such that one storage device is a memory and the otherstorage device is a hard drive. Additionally, the memory unit 70 can berespectively located either entirely or partially external relative tothe battery charging apparatus 100.

In at least one embodiment, the processing unit 63 can be a centralprocessing unit, a digital signal processor, or a single chip, forexample.

Referring to FIG. 7, a battery charging system 50 applied to thecontroller 60 of the battery charging apparatus 100 is illustrated. Alsoreferring to FIG. 6 again, the battery charging apparatus 100 cancommunicate, wireless or through a wired connection, data with a server300. Orders can be transmitted to the server 300 via a mobile terminal400 by users. The battery charging system 50 can include a movementcontrol module 51, a camera module 52, a comparing module 53, and acharging control module 54. The movement control module 51, the cameramodule 52, the comparing module 53, and the charging control module 54can be executed by the processing unit 63. The modules of the batterycharging system 50 also can include a hardware, integrated circuits, orsoftware and hardware combinations, such as a special-purpose processoror a general purpose processor with special-purpose firmware.

The movement control module 51 can be used to control the robot arm 20of the charging apparatus 100 to move.

The camera module 52 can be used to obtain an image of a location of thereceiving coupler 201 captured by the camera unit 45. In detail, thecamera module 52 can process the image captured by the camera unit 45for indentify.

The comparing module 53 can be used to compare the image with apredefined image stored by the memory unit 70. The predefined image canbe an open state of the receiving coupler of a same model as theelectric vehicle 200. The comparing module 53 can be used to determinewhether the charging lid 202 is in the open state. The comparing module53 can be used to generate a coupling signal, to prompt that the feedingcoupler 30 couples with the receiving coupler 201 via the robot arm 20when the image is same or corresponding to the predefined image. Thecomparing module 53 can be further used to generate a warning signal towarn people to open the charging lid 202 when the image is not same orcorresponding to the predefined image. The warning signal can be sent tothe server 300 by the battery charging apparatus 100, and then relayedto the mobile terminal 400 by the server 300. In other embodiments, thewarning signal can be sent to a buzzer mounted in the battery chargingapparatus 100 to emit a sound, or the warning signal can be sent to alight mounted in the battery charging apparatus 100 to emit light. Inother embodiments, the compare module 53 can be further used to obtain apositional deviation between the feeding coupler 30 and the receivingcoupler 201 according to the image of the receiving coupler 201. Whenthe image of the receiving coupler 201 matches the predefined image, themovement control module 51 is capable of controlling the robot arm 20 tocorrect positions of the feeding coupler 30 during a movement of therobot arm 20 according to the positional deviation.

The charging control module 54 can be used to control the feedingcoupler 30 of the battery charging apparatus 100 to output electriccurrent. In detail, the charging control module 54 can control thefeeding coupler 30 to output electric current according to a chargingsignal. The charging signal or an order can be input via the displayunit by manual, or from the mobile terminal 400. The charging controlmodule 54 can stop the feeding coupler 30 from output electric currentwhen a battery of the electric vehicle 200 is fully charged.Furthermore, the charging control module 54 can stop the feeding coupler30 outputting electric current when the charging control module 54receives a stop signal, from a mobile terminal 400, or a stop orderinput via the controller 60. The charging control module 54 can be usedto generate a finish signal when the feeding coupler 30 has stoppedoutputting current. Then, the movement control module 51 can control therobot arm 20 to retract the feeding coupler 30 from fitting engagementwith the receiving coupler 201 and close the charging lid 202 accordingto the finish signal. The robot arm 20 can be controlled to return thereceiving portion 13 or be coupled to another electrical vehicle. Inother embodiments, the charging control module 54 can control the robotarm 20 to directly return receiving portion 13 without closing thecharging lid 202 after finishing charging.

The battery charging apparatus 100 can further accept a reservationrequest. The reservation request can be sent to the server 300 via themobile terminal 400. The reservation request can include vehicleinformation, reservation time, and a vehicle location. The vehicleinformation can include a license plate number, a vehicle model, anidentify code and other identifying information.

The server 300 can store relating information of a plurality of batterycharging apparatus in one or more areas, including locations of thebattery charging apparatus. The server 300 can receive a working mode ofeach charging apparatus 100 in real time. The working mode is in acharging state or a free state for each charging apparatus. The server300 can distribute a fitting battery charging apparatus and transmit asignal including location of the fitting battery charging apparatus tothe mobile terminal 400, according to the reservation request. Thefitting battery charging apparatus can be which is nearest to theelectric vehicle and can supply a charging service in the reservationtime of the reservation request.

The battery charging system 50 can further include a transmitting module55, a receiving module 56, and an identification module 57. Thetransmitting module 55, the receiving module 56, and an identificationmodule 57 can be stored by the memory unit 70 for executed by theprocessing unit 63.

The transmitting module 55 can transmit the working mode of the chargingapparatus 100 in real time to the server 300.

The receiving module 56 can receive the reservation request and transmitto the memory unit 70.

The identification module 57 can be used to identify the electricalvehicle 200 to determine whether information of electric vehicle 200 andthe reservation time of the electric vehicle 200 match the informationof the reservation request. In detail, the identification module 57 cancompare, calculate and process the information of electric vehicle 200,reservation time of the electric vehicle 200 with the reservationrequest. If yes, in other words, the information of electric vehicle 200and the reservation time of the electric vehicle 200 match theinformation of the reservation request, the electric vehicle 200 can beallowed to be charged. Otherwise, a charging process will be ended. Theinformation of the electric vehicle 200, such as the vehicle platenumber, can be recorded in the mobile terminal 400. The identificationmodule 57 can be used to obtain the information of the electric vehicle200 via wireless technology, for example BLUETOOTH™, in an allowed rangefrom the mobile terminal 400 before charging. The identification module57 can also obtain the information of the electric vehicle 200 viainternet. In at least one embodiment, the vehicle plate number can becaptured by the camera unit 45, and the identification module 57 canidentify the vehicle plate number based on the image captured by thecamera unit 45. In other embodiments, the information of the electricvehicle 200, the real time location of the electric vehicle can betransmitted to the server 300, and then relayed to the identificationmodule 57.

Furthermore, a detector 500 (as shown in FIG. 5) can be positioned in aparking space corresponding to the battery charging apparatus 100. Thedetector 500 can detect whether the electric vehicle 200 is positionedwithin predetermined ranges with respect to the battery chargingapparatus 100. In other words, the detector 500 can detect whether theelectric vehicle 200 is positioned correctly for charging. The detector500 can transmit a detecting signal to the movement control module 51for starting the robot arm 20. The movement control module 51 cancontrol the robot arm 20 move the feeding coupler 30 toward thereceiving couple 201 along a predefining path, according to a predefinedposition of the receiving coupler of the same model as the electricvehicle 200, the predefined position of the receiving coupler of thesame model as the electric vehicle 200 stored in the memory unit 70. Theelectric vehicle 200 usually parks in the parking space and a tire ofthe electric vehicle resists the stop and actuates the detector 500. Ifthe movement control module 51 does not receive any signal from thedetector 500, the robot arm 20 will not operate.

The battery charging system 50 can further include a protective controlmodule 58 for adjusting opening or closing the protective door 40. Theprotective control module 58 can be stored by the memory unit 70 andfurther executed by the processing unit 63. In detail, the protectivecontrol module 58 also can control opening the protective door 40 whenthe movement control module 51 starts the robot arm 20. In otherembodiments, the protective control module 58 also can receive thedetecting signal from the detector 500.

The battery charging system 50 can further include a distance receivermodule 59. The distance receiver module 59 can obtain a predetermineddistance between the feeding coupler 30 and the electrical vehicle 200according to the distance signal before the camera unit 45 capturingimages of the receiving coupler 201.

The reservation request can be sent to the server 300 via the mobileterminal 400 by the user, when the electric vehicle 200 needs to becharged. The server 300 can distribute a fitting battery chargingapparatus 100 and transmit a signal, according to the reservationrequest, including location of the fitting battery charging apparatus tothe mobile terminal 400. The reservation request can be transmitted tothe fitting battery charging apparatus 100 by the server 300. The server300 can send information including the location position of the fittingbattery charging apparatus 100.

The detector 500 can detect the electric vehicle 200 to generate thedetecting signal when the electric vehicle 200 parks in thecorresponding parking space to the battery charging apparatus 100. Therobot arm 20 can be started and the protective door 40 can be controlledto open. The charging lid 202 can be opened by the charging lid openingand closing device or by manual. When the identification module 57determines that vehicle information of the electric vehicle 200 andreservation time matches the reservation request, the feeding coupler 30can be moved to the position and spaced from the electrical vehicle 200with the predetermined distance. The camera module 52 can obtain theimage of the location of the receiving coupler 201 captured by thecamera unit 45. The comparing module 53 can compare the image with thepredefined image stored by a memory unit 70. The movement control module51 can control the feeding coupler 30 to couple with the receivingcoupler 201 via the robot arm 20, when the image matches with thepredefined image stored by a memory unit 70.

The charging control module 54 can control to charge the electricvehicle 200, according to the charging signal. The charging controlmodule 54 can stop the feeding coupler 30 to output electric currentwhen a battery of the electric vehicle 200 is on a full charge.

FIGS. 8 and 9 illustrate an embodiment of a flowchart of a batterycharging method. The battery charging method is provided by way ofexample, as there are a variety of ways to carry out the method. Thecontrol method described below can be carried out using theconfigurations illustrated in FIG. 1, for example, and various elementsof these figures are referenced in explaining the example method. Eachblock shown in FIG. 8 represents one or more processes, methods, orsubroutines carried out in the example method. Furthermore, theillustrated order of blocks is by example only and the order of theblocks can be changed. Additional blocks may be added or fewer blocksmay be utilized, without departing from this disclosure. The examplemethod can begin at block 801.

At block 801, a working mode of a battery charging apparatus istransmitted to a server in real time, via a transmitting module of abattery charging apparatus.

At block 802, a reservation request is received from the server via areceiving module of the battery charging apparatus and the reservationrequest is stored in a memory unit. The reservation request can includevehicle information of the electric vehicle, reservation time, andgeographical location of the electric vehicle.

At block 803, a movement control module of the battery chargingapparatus starts a robot arm of the battery charging apparatus via and adoor control module of the battery charging apparatus opens a protectivedoor of the battery charging apparatus. A detecting signal sent from adetector will be transmitted to the processing unit starting the robotarm, when the detector detects that the electric vehicle is positionedwithin predetermined ranges with respect to the battery chargingapparatus. The detector is positioned in a parking space correspondingto the battery charging apparatus. The door control module can controlopen the protective door, when the movement control module starts therobot arm.

At block 804, a comparing module of the battery charging apparatusdetermines whether information of the electric vehicle and reservationtime match with the reservation request. If the information of theelectric vehicle and reservation time match with the reservationrequest, the process goes to block 805; otherwise, the process will beended. In detail, the comparing module identifies the electric vehicleaccording to the information of electric vehicle, reservation time, andthe reservation request.

At block 805, the robot arm of the battery charging apparatus iscontrolled to move the feeding coupler of the battery charging apparatustowards a receiving coupler of the electric vehicle via the movementcontrol module of the battery charging apparatus, until the feedingcoupler arrives at a position which is spaced from the receiving couplerwith a predefined distance. The movement control module of the batterycharging apparatus can obtain a predefined path for the robot arm,according to a predefined position of a receiving coupler of a samemodel as the electric vehicle, when the electric vehicle is positionedwithin predetermined ranges with respect to the battery chargingapparatus. The predefined position of the receiving coupler of the samemodel as the waiting charging electric vehicle can be stored in a memoryunit. The charging control module can control the robot arm and thefeeding coupler move along the predefined path, until the feedingcoupler is distanced from the receiving coupler with the predefineddistance.

At block 806, an image of a location of the receiving coupler isobtained. The camera module controls the camera unit of the batterycharging apparatus to capture the image of the location of the receivingcoupler and transmit to a comparing module of the battery chargingapparatus.

At block 807, the image of the location of the receiving coupler of theelectric vehicle is compared with a predefined image, and determinewhether the image of the receiving coupler match the predefined image.The predefined image is the receiving coupler of a same model as theelectric vehicle, when a charging lid of the same model as the electricvehicle, is in an open state. The comparing module can determine whetherthe image match with the predefined image, according to the image of thelocation of the receiving coupler of the electric vehicle and thepredefined image. If yes, the process goes to a block 808; if no, theprocess goes to a block 809.

At block 808, the feeding coupler is controlled to couple with thereceiving coupler via the robot arm, when the image of the receivingcoupler matches the predefined image. The movement control modulecontrols the robot arm couple with the receiving coupler.

At block 809, the charging lid is warned to open and return the block806. The comparing module sends a warning signal to warn people open thecharging lid.

At block 810, the feeding coupler is controlled supply current to theelectric vehicle. A charging control module of the battery chargingapparatus can control the feeding coupler to output electric currentaccording to a charging signal. The charging signal can be an orderinput via the processing unit by manual, or from the mobile terminal.

At block 811, the feeding coupler is stopped to output electric current.The charging control module can stop the feeding coupler output electriccurrent when a battery of the electric vehicle has been on a fullcharge. Furthermore, the charging control module can stop the feedingcoupler output electric current when receiving a sop signal from theprocessing unit by manual, or from the mobile terminal.

At block 812, the robot arm is controlled to release the feeding couplerfrom the receiving coupler, control the robot arm close the charginglid, and control the robot arm return a receiving portion of the batterycharging apparatus. The charging control module controls the robot armrelease the feeding coupler from the receiving coupler, controls therobot arm close the charging lid, and controls the robot arm return thereceiving portion, according a finish signal from the charging controlmodule.

At block 813, the protective door is controlled to close the receivingportion.

In other embodiments, the block 801, the block 802, the block 804 can beomitted, when the transmitting module, the receiving module, and theidentification module of the battery charging apparatus are omitted.

In other embodiments, the block 809 can be omitted, when the batterycharging apparatus does not have a function that warning to open thecharging lid.

In other embodiments, the robot arm 20 can be started by the processingunit 63 or other signal, such as an order from the mobile terminal.

In other embodiments, the memory unit 70 of the battery chargingapparatus can be omitted, the battery charging apparatus can couple withan outer memory unit, such that information relating to a receivingcoupler of a plurality of models of electric vehicles, and other datacan be stored in the outer storage.

In other embodiments, images of closing charging lids for the pluralityof electric vehicles can be also storied in the memory unit. Thecharging lid is closed, when the image of the location of the receivingcoupler matches with a corresponding one image for a closing charginglid of a same model as the electric vehicle.

In other embodiments, the protective door 40 can be omitted, and theprotective control module 58 can be omitted correspondingly.

FIGS. 10 and 11 illustrate another embodiment of a flowchart of abattery charging method. The battery charging method is provided by wayof example, as there are a variety of ways to carry out the method. Thecontrol method described below can be carried out using theconfigurations illustrated in FIG. 1, for example, and various elementsof these figures are referenced in explaining the example method. Eachblock shown in FIGS. 10 and 11 represent one or more processes, methods,or subroutines carried out in the example method. Furthermore, theillustrated order of blocks is by example only and the order of theblocks can be changed. Additional blocks may be added or fewer blocksmay be utilized, without departing from this disclosure. The examplemethod can begin at block 901.

At block 901, an electronic charging apparatus can be provided, and theelectronic charging apparatus can have a receiving portion and aprotective door with a robot arm moveably within the receiving portion.The robot arm can have a feeding coupler at an end of the robot armconfigured to mate with the electrical power receiving coupler of theelectric vehicle. The robot arm can have a retracted position in whichthe robot arm is within the electronic charging apparatus.

At block 902, the robot arm can be stored in the receiving portion inthe retracted position with the protective door closed.

At block 903, the electronic charging apparatus can be in response tothe electric vehicle moving into proximity to a charging station.

At block 904, the protective door can be opened.

At block 905, the robot arm can be extended from the retracted positionto bring the feeding coupler to a position spaced from the receivingcoupler of the electric vehicle.

At block 906, a location of the receiving coupler of the electricvehicle can be recalled, the location can be stored in a memory unit.

At block 907, the feeding coupler whether can connect to the receivingcoupler can be visually confirmed.

At block 908, a warning can be issued in response to lack of visualconfirmation. In response to visual confirmation and based on thelocation recalled from the memory.

At block 909, the robot arm can be moved to bring the feeding couplerinto engagement with the receiving coupler to power the electricvehicle.

At block 910, the robot arm can be retracted into the retractedposition.

The embodiments shown and described above are only examples. Manydetails are often found in the art. Therefore, many such details areneither shown nor described. Even though numerous characteristics andadvantages of the present technology have been set forth in theforegoing description, together with details of the structure andfunction of the present disclosure, the disclosure is illustrative only,and changes may be made in the detail, especially in matters of shape,size and arrangement of the parts within the principles of the presentdisclosure up to, and including the full extent established by the broadgeneral meaning of the terms used in the claims. It will therefore beappreciated that the embodiments described above may be modified withinthe scope of the claims.

What is claimed is:
 1. A battery charging apparatus for charging an electric vehicle, comprising: a charging body defining a receiving portion; a robot arm movably coupled to a sidewall of the receiving portion, and received in the receiving portion, wherein the robot arm comprises a first arm, a second arm, a third arm, and a fourth arm, a first end portion of the first arm is rotatably coupled with a sidewall of the receiving portion about a first axis, a first end portion of the second arm is rotatably coupled with a second end portion of the first arm about a second axis, the second axis is substantially parallel to the first axis, a first end portion of the third arm is rotatably coupled with a second end portion of the second arm about a third axis, and the third axis is substantially parallel to the first axis, a first end portion of the fourth arm is rotatably coupled with a second end portion of the third arm about a fourth axis, and the fourth axis is substantially vertical to the first axis; and a feeding coupler coupled to the fourth arm and configured to supply electric power to the electric vehicle; and wherein the robot arm is capable of extending from the receiving portion for coupling the feeding coupler to an electric vehicle.
 2. The battery charging apparatus of claim 1, further comprising a protective door, wherein the protective door is movably coupled to the charging body and positioned adjacent to the receiving portion for closing the receiving portion.
 3. The battery charging apparatus of claim 2, wherein the protective door is configured to coil or roll up.
 4. The battery charging apparatus of claim 1, wherein the robot arm further comprises a fifth arm, a first end portion of the fifth arm is rotatably coupled with a second end portion of the fourth arm about a fifth axis, and the fifth axis is substantially vertical to the fourth axis.
 5. The battery charging apparatus of claim 4, wherein the robot arm further comprises a sixth arm, the sixth arm is fixedly coupled to a second portion of the fifth arm, the feeding coupler is positioned on an end portion of the sixth arm and positioned away from the fifth arm.
 6. The battery charging apparatus of claim 5, wherein the robot arm further comprises an elastic member, the elastic member is movably sleeved on the sixth arm and resist with the feeding coupler.
 7. The battery charging apparatus of claim 1, wherein the battery charging apparatus further comprises a controller for controlling the robot arm to couple the feeding coupler with a receiving coupler of the electric vehicle.
 8. The battery charging apparatus of claim 7, wherein the battery charging apparatus further comprises a camera unit coupled to the controller, the camera unit is positioned on an end surface of the feeding coupler and positioned away from the robot arm.
 9. A battery charging apparatus for charging an electric vehicle comprising: a charging body defining a receiving portion; a robot arm movably coupled to a sidewall of the receiving portion, and received in the receiving portion, wherein the robot arm comprises a first arm, a second arm, a third arm, and a fourth arm, a first end portion of the first arm is rotatably coupled with a sidewall of the receiving portion about a first axis, a first end portion of the second arm is rotatably coupled with a second end portion of the first arm about a second axis, the second axis is substantially parallel to the first axis, a first end portion of the third arm is rotatably coupled with a second end portion of the second arm about a third axis, and the third axis is substantially parallel to the first axis, a first end portion of the fourth arm is rotatably coupled with a second end portion of the third arm about a fourth axis, and the fourth axis is substantially vertical to the first axis; a feeding coupler coupled to the fourth arm and configured to supply electric power to the electric vehicle; a protective door movably coupled to the charging body; and a controller electrically coupled to the robot arm and the protective door; and wherein the protective door is controlled by the controller for being opened or closed, and the robot arm is capable of extending from the receiving portion for coupling the feeding coupler to an electric vehicle.
 10. The battery charging apparatus of claim 9, wherein the protective door is configured to coil or roll up.
 11. The battery charging apparatus of claim 9, wherein the robot arm further comprises a fifth arm, a first end portion of the fifth arm is rotatably coupled with a second end portion of the fourth arm about a fifth axis, and the fifth axis is substantially vertical to the fourth axis.
 12. The battery charging apparatus of claim 11, wherein the robot arm further comprises a sixth arm, the sixth arm is fixedly coupled to a second portion of the fifth arm, the feeding coupler is positioned on an end portion of the sixth arm and positioned away from the fifth arm.
 13. The battery charging apparatus of claim 12, wherein the robot arm further comprises an elastic member, the elastic member is movably sleeved on the sixth arm and resist with the feeding coupler.
 14. A battery charging method for charging an electric vehicle having a receiving coupler, comprising: providing an electronic charging apparatus having a receiving portion and a protective door with a robot arm moveably within the receiving portion, the robot arm having a feeding coupler at an end of the robot arm configured to mate with the electrical power receiving coupler of the electric vehicle, the robot arm having a retracted position in which the robot arm is within the electronic charging apparatus, wherein the robot arm comprises a first arm, a second arm, a third arm, and a fourth arm, a first end portion of the first arm is rotatably coupled with a sidewall of the receiving portion about a first axis, a first end portion of the second arm is rotatably coupled with a second end portion of the first arm about a second axis, the second axis is substantially parallel to the first axis, a first end portion of the third arm is rotatably coupled with a second end portion of the second arm about a third axis, and the third axis is substantially parallel to the first axis, a first end portion of the fourth arm is rotatably coupled with a second end portion of the third arm about a fourth axis, and the fourth axis is substantially vertical to the first axis; storing the robot arm in the receiving portion in the retracted position with the protective door closed; in response to the electric vehicle moving into proximity to a charging station: opening the protective door; extending the robot arm from the retracted position to bring the feeding coupler to a position spaced from the receiving coupler of the electric vehicle; recalling from a memory a location of the receiving coupler of the electric vehicle; visually confirming that the feeding coupler can connect to the receiving coupler; issuing a warning in response to lack of visual confirmation; moving, in response to visual confirmation and based on the location recalled from the memory, the robot arm to bring the feeding coupler into engagement with the receiving coupler to power the electric vehicle; and retracting the robot arm into the retracted position. 